抄録
Recently, robots operated by tele-operation are expected to do search and rescue activities in a disaster area. However, because the operation is complex, it is difficult to search victims quickly. In this study, a control method to coordinate locomotion and manipulation is proposed in order to simplify the operation of the robot. In our system, once the operator only inputs the target position of the end effector of the manipulator on the robot on an image from the camera mounted on the robot, the robot automatically moves to achieve the position. The manipulator keeps manipulability while following the target trajectory of the end effector by using redundancy of the manipulator. The vehicle avoids "No entry areas" while following the trajectory of the end effector by our improved potential method. We verify the effectiveness of our proposed system by a simulation.
